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GPS/INS

About: GPS/INS is a research topic. Over the lifetime, 3554 publications have been published within this topic receiving 62784 citations.


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Proceedings ArticleDOI
08 Aug 2011
TL;DR: In this article, a sensitivity analysis relative to different algorithm design parameters on the attitude performance of two different Global Positioning System/Inertial Navigation System (GPS/INS) sensor fusion algorithms for estimating aircraft attitude angles is presented.
Abstract: This document presents a sensitivity analysis relative to different algorithm design parameters on the attitude performance of two different Global Positioning System/Inertial Navigation System (GPS/INS) sensor fusion algorithms for estimating aircraft attitude angles, namely the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF). The sensor fusion was performed using flight data acquired with three different WVU YF-22 research aircraft under a variety of flight conditions. The attitude estimates were compared with direct ‘truth’ measurements from an on-board mechanical vertical gyroscope. The sensitivity analysis was conducted on the following parameters: process and measurement noise covariance tuning, IMU and GPS sampling rates, GPS outages, time offset between GPS and IMU measurements, and acceleration due to gravity. Overall, the EKF and UKF performed very similarly in response to the different parameters for this study.

17 citations

Journal ArticleDOI
TL;DR: In this article, a very accurate and robust trajectory determination system was developed, based on kinematic GPS and a high-grade inertial unit, which is described with its specificities (e.g., acceleration process, ambiguity acceptance criterion, and zero velocity case).
Abstract: As part of its activities, the Laboratoire de Recherches Balistiques et Aerodynamiques has reponsibility for evaluating the performance of navigation systems of many kinds (e.g., inertial, radionavigation-based, and hybrid systems, including radar, radio altimeter, and odometer). A very accurate and robust trajectory determination system was therefore developed, based on kinematic GPS and a high-grade inertial unit. Following a global description of the system architecture, a detailed explanation of GPS measurement processing is presented. The “on the fly” algorithm developed is described with its specificities (e.g., acceleration process, ambiguity acceptance criterion, and zero velocity case). An inertial navigation system (INS) data filtering algorithm is then described, including discussions on error modeling and the use of kinematic GPS data. A global process chart for the INS/differential GPS (DGPS) hybridization is given. Hardware implementation on the vehicle is then described. Finally, a detailed assessment of the performance of the system is given, in terms of accuracy, time to resolve GPS ambiguities, and maximum duration of GPS signal masking to allow a rapid recovery of ambiguities.

17 citations

Journal ArticleDOI
TL;DR: Relationships among code phase, carrier frequency, and receiver position and velocity are analyzed, and a vector loop-tracking algorithm using an Extended Kalman filter implemented in a Matlab-based GPS software receiver is presented.
Abstract: A number of methods have been developed to enhance the robustness of Global Positioning System (GPS) receivers when there are a limited number of visible satellites. Vector tracking is one of them. It utilizes information from all channels to aid the processing of individual channels to generate receiver positions and velocities. This paper analyzes relationships among code phase, carrier frequency, and receiver position and velocity, and presents a vector loop-tracking algorithm using an Extended Kalman filter implemented in a Matlab-based GPS software receiver. Simulated GPS signals are generated to test the proposed vector tracking method. The results show that when some of the satellites are blocked, the vector tracking loop provides better carrier frequency tracking results for the blocked signals and produces more accurate navigation solutions compared with traditional scalar tracking loops.

17 citations

27 Sep 2002
TL;DR: An algorithm for computing a GPS receiver's position and the current time from C/A-code phase measurements to at least six satellites and a set of valid satellite ephemerides is presented and the accuracy is comparable to that of the conventional pseudo-range methods.
Abstract: This paper presents an algorithm for computing a GPS receiver's position and the current time from C/A-code phase measurements to at least six satellites and a set of valid satellite ephemerides. Reference position and reference time are not necessary. The process uses a cost function having numerous local minima in addition to the global minimum. An exhaustive search over the 5dimensional time-position-bias search space will reliably find the global minimizer, and thus solve the approximate position and time. Introducing a reference time within one minute from the true time resulted in worst-case computation time of a few seconds. If the current pseudorange correction parameters are available, the accuracy of this method is comparable to that of the conventional pseudo-range methods. As a conclusion, an accurate GPS position can be solved in a reasonable time even without the navigation data or precise system time.

17 citations

Journal ArticleDOI
TL;DR: The modification algorithm not only reduces the fault rate of cycle-slip detection, but also promotes the autonomous ability of orbit determination by increasing the quantity of measurement data that will participate in low-earth-orbit-satellite orbit determination.
Abstract: According to the application characteristics of low-earth-orbit satellite-borne global positioning system (GPS) receiver, the influence of GPS measurement data error on cycle-slip detection is anal...

17 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202317
202247
20219
202013
201925
201840